vector3.cpp

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** Copyright (c) 2015-2025 RoboDK Inc.
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#include "vector3.h"
 
#include <cmath>
 
 
namespace robodk
{
 
Vector3::Vector3(double x, double y, double z)
{
    _v[0] = x;
    _v[1] = y;
    _v[2] = z;
}
 
double Vector3::Length() const
{
    return std::sqrt(_v[0] * _v[0] + _v[1] * _v[1] + _v[2] * _v[2]);
}
 
void Vector3::Normalize()
{
    double len = Length();
    if (std::abs(len) <= 0.000000000001)
        return;
 
    _v[0] /= len;
    _v[1] /= len;
    _v[2] /= len;
}
 
double Vector3::DotProduct(const Vector3& v1, const Vector3& v2)
{
    return v1._v[0] * v2._v[0] + v1._v[1] * v2._v[1] + v1._v[2] * v2._v[2];
}
 
Vector3 Vector3::CrossProduct(const Vector3& v1, const Vector3& v2)
{
    return Vector3(
        v1._v[1] * v2._v[2] - v1._v[2] * v2._v[1],
        v1._v[2] * v2._v[0] - v1._v[0] * v2._v[2],
        v1._v[0] * v2._v[1] - v1._v[1] * v2._v[0]);
}
 
} // namespace robodk